Hi Rishi,

Are you sure of the cable you are using? If I recall, we had to do some
hackery to switch the RX and TX lines on the serial lines before we
could get our sick working.

Here is the approach I would take to check your cable:

Take a multimeter, and measure the following voltages:
On the Sick side, pin 5 to pin 2
On the Sick side, pin 5 to pin 3
On the computer side, pin 5 to pin 2
On the computer side, pin 5 to pin 3

I would expect you to see something close to +-12V on the line that is
transmitting, and something close to zero on the line that is not
transmitting (put a 1k in parallel with your multimeter if you want to
get closer to zero).

If the cable is good then the transmit line on the Sick side should
correspond to the receive line on the computer side, and vice versa.

Cheers,
Blaise

On Tue, 2010-07-13 at 11:43 -0400, Rishi Bedi wrote:
> Hi,
> I'm trying to use the sicktoolbox_wrapper stack with a SICK LMS200
> laser rangefinder (connected over serial; port /dev/ttyS0). I set the
> permissions as described here
> (http://www.ros.org/wiki/sicktoolbox_wrapper/Tutorials/UsingTheSicklms) -- it shows: "crw-rw-rw- 1 root dialout 4, 64 2010-07-13 11:36 /dev/ttyS0". However, I get an error when I run the following:
> 
> rishi@rishi-portable:~$ rosrun sicktoolbox_wrapper sicklms
> _port:=/dev/ttyS0 _baud:=38400
> 
> The error:
> 
>     *** Attempting to initialize the Sick LMS...
>     Attempting to open device @ /dev/ttyS0
>         Device opened!
>     Attempting to start buffer monitor...
>         Buffer monitor started!
>     Attempting to set requested baud rate...
> A Timeout Occurred!  2 tries remaining
> A Timeout Occurred!  1 tries remaining
> A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max
> number of tries w/o success!
>     Failed to set requested baud rate...
>     Attempting to detect LMS baud rate...
>         Checking 19200bps...
> A Timeout Occurred!  2 tries remaining
> A Timeout Occurred!  1 tries remaining
> A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max
> number of tries w/o success!
>         Checking 38400bps...
> A Timeout Occurred!  2 tries remaining
> A Timeout Occurred!  1 tries remaining
> A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max
> number of tries w/o success!
>         Checking 500Kbps...
> A Timeout Occurred!  2 tries remaining
> A Timeout Occurred!  1 tries remaining
> A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max
> number of tries w/o success!
> ERROR: I/O exception - SickLMS::Initialize: failed to detect baud
> rate!
> [ERROR] [1279035417.096500632]: Initialise failed! are you using the
> correct device path?
> [ERROR] [1279035417.096682835]: woah! error!
> 
> It seems the issue is the baud rate, but I set it manually in my
> rosrun command -- any ideas?
> Thanks!
> Rishi
> 
> Rishi Bedi
> rbedi100@gmail.com
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